Initial self-alignment for marine rotary SINS using novel adaptive Kalman filter
type: Item
instance of: scholarly article
title: Initial self-alignment for marine rotary SINS using novel adaptive Kalman filter
zbMATH Open document ID: 1394.93330
DOI: 10.1155/2015/320536
author: Fujun Pei
author: Jian Zhao
author: L. Zhu
published in: Mathematical Problems in Engineering
publication date: 2018-08-27T00:00:00Z
review text: Summary: The accurate initial attitude is essential to affect the navigation result of Rotary Strapdown Inertial Navigation System (SINS), which is usually calculated by initial alignment. But marine mooring Rotary SINS has to withstand dynamic disturbance, such as the interference angular velocities and accelerations caused by surge and sway. In order to overcome the limit of dynamic disturbance under the marine mooring condition, an alignment method using novel adaptive Kalman filter for marine mooring Rotary SINS is developed in this paper. This alignment method using the gravity in the inertial frame as a reference is discussed to deal with the lineal and angular disturbances. Secondly, the system error model for fine alignment in the inertial frame as a reference is established. Thirdly, PWCS and SVD are used to analyze the observability of the system error model for fine alignment. Finally, a novel adaptive Kalman filter with measurement residual to estimate measurement noise variance is designed. The simulation results demonstrate that the proposed method can achieve better accuracy and stability for marine Rotary SINS.
Mathematics Subject Classification ID: 93E11
zbMATH DE Number: 6926060
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2015/320536
OpenAlex ID: W1827579012
Wikidata QID: Q59118007
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description: scientific article; zbMATH DE number 6926060